Four-degrees-of-freedom series-parallel impact resistant mechanical foot for humanoid robot

Abstract

The invention discloses a four-degrees-of-freedom series-parallel impact resistant mechanical foot for a humanoid robot, which belongs to the field of humanoid robots. The four-degrees-of-freedom series-parallel impact resistant mechanical foot for the humanoid robot comprises a mechanical shank, a tarsal skeleton, an ankle shaft A, an ankle shaft B, a metatarsal skeleton, a toe, a toe joint, a sole, two compression resistant rubber columns, two tensile springs, a torsion spring B and a torsion spring A, wherein the toe joint is used for connecting the toe with the metatarsal skeleton; the torsion spring B is mounted between the toe and a metatarsal bone rod C; the torsion spring A is mounted between a tarsal bone rod C and a metatarsal bone rod A; the tarsal skeleton comprises a tarsal bone rod A, a tarsal bone rod B and a tarsal bone rod C; the metatarsal skeleton comprises a metatarsal bone rod A, a metatarsal bone rod B and a metatarsal bone rod C; the two tensile springs are mounted on the external sides of the two compression resistant rubber columns and always in a tensile and stressed state; the mechanical shank can rotate around the ankle shaft A; the ankle shaft B is orthogonal to the ankle shaft A; and the mechanical shank can realize twisting motion around the ankle shaft B. The invention is the humanoid robot foot with reasonable structure, impact resistance and four-degrees-of-freedom series-parallel mode.

Description

Technical field [0001] The invention mainly relates to the field of humanoid robots, and particularly refers to a four-degree-of-freedom hybrid and shock-resistant mechanical foot of a humanoid robot. Background technique [0002] As one of the hot spots in the field of intelligent robots, humanoid robots have structural features that are more similar to humans, and have received widespread attention and attention. From the perspective of bionics, the prerequisite for realizing complex human movements or postures is the design of a mechanical foot that imitates the human foot. Although the mechanical foot of the prior art realizes a simple walking process, it cannot simulate the subtle movements of a human being when encountering a complex ground during walking, that is, it cannot resist the impact force generated during the walking process. Therefore, it is very important to design a mechanical foot with four degrees of freedom of motion and achieve impact energy absorption thr...

AI Technical Summary

Problems solved by technology

Although the mechanical foot of the prior art realizes a simple walking process, it cannot simulate the subtle movements of human beings when they encounter complex ground during walking, that is, they cannot resist the impact force generated during walking.

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